視覚と行動のend-to-end学習により経路追従行動をオンラインで模倣する手法の提案

―未知障害物回避行動の分析と実環境適用に向けた検討―

抄録

We have proposed an end-to-end imitation learning method for path-following using camera images to imitate behavior generated by LiDAR-based navigation. Experiments have confirmed that this method enables path-following using visual information. However, these experiments were limited to static environments with predefined obstacles. Observations suggest that the robot may have unintentionally learned to avoid unknown obstacles. To investigate this, we analyzed its behavior under varying obstacles and environmental conditions. Our results indicate that the method may be effective even in environments with unknown obstacles. This insight highlights its potential for real-world applications.